/*
 * Copyright (C) 2013, Osnabrück University
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Osnabrück University nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: 15.08.2013
 *
 *      Author: Martin Günther <mguenthe@uos.de>
 *
 */

#ifndef ABSTRACT_PARSER_H_
#define ABSTRACT_PARSER_H_

#include <sick_scan/SickScanConfig.h>
#include <sensor_msgs/LaserScan.h>

namespace sick_scan
{

enum ExitCode
{
    ExitSuccess = 0
    , ExitError = 1    // non-fatal error, retry
    , ExitFatal = 2    // fatal error, exit
};

  class AbstractParser
  {
  public:
    AbstractParser();

    virtual ~AbstractParser();

    virtual int parse_datagram(char *datagram, size_t datagram_length, SickScanConfig &config,
                               sensor_msgs::LaserScan &msg, int &numEchos, int &echoMask) = 0;
  };

} /* namespace sick_scan */
#endif /* ABSTRACT_PARSER_H_ */
